cmake_minimum_required(VERSION 3.8)
project(lifecycle_example)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(lifecycle_msgs REQUIRED)
find_package(test_interfaces REQUIRED)

add_executable(lifecycle_server src/lifecycle_server.cpp)
ament_target_dependencies(lifecycle_server rclcpp rclcpp_lifecycle std_srvs lifecycle_msgs)
add_executable(lifecycle_client src/lifecycle_client.cpp)
ament_target_dependencies(lifecycle_client rclcpp rclcpp_lifecycle std_srvs lifecycle_msgs)

add_executable(lifecycle_action_server src/lifecycle_action_server.cpp)
ament_target_dependencies(lifecycle_action_server 
    rclcpp 
    rclcpp_lifecycle 
    std_srvs 
    rclcpp_action 
    lifecycle_msgs
    test_interfaces
)

add_executable(lifecycle_action_client src/lifecycle_action_client.cpp)
ament_target_dependencies(lifecycle_action_client 
    rclcpp 
    rclcpp_lifecycle 
    std_srvs 
    rclcpp_action 
    lifecycle_msgs
    test_interfaces
)

install(TARGETS
    lifecycle_client
    lifecycle_server
    lifecycle_action_server
    lifecycle_action_client
    DESTINATION lib/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
